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If you had a tax amount due with your Missouri return, then the 4 quarterly estimated tax payments for 2019 are automatically generated. These are not required forms/payments to be made, but are recommendations based upon your tax scenario for 2018. If you feel that you can adjust your employer withholding to cover the tax due for Missouri for 2019, then you do not need to file the quarterly payments. Just know that if you do underpay your taxes for 2019, you could be fined an underpayment penalty.
Below is more information on federal quarterly tax vouchers, but the concepts are the same for state vouchers as well:
https://ttlc.intuit.com/replies/3301872
how do I generate Missouri state tax quartley forms for 2020
Here is where you can print your Missouri 1040ES tax form for 2020.
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